% Copyright 2020 Makani Technologies LLC
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%      http://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.

function [x] = wrap_angle(x)
i = find(x > pi);
if ~isempty(i)
  x(i) = x(i) - 2*pi*floor((x(i) + pi) / (2*pi));
end
i = find(x < -pi);
if ~isempty(i)
  x(i) = x(i) - 2*pi*ceil((x(i) - pi) / (2*pi));
end
